@Test(timeout = 300000)
public void testMessageOrder() throws InterruptedException {
int numberOfMessages = 100;
final CountDownLatch latch = new CountDownLatch(numberOfMessages);
MessageDispatcher<std_msgs.Int32> messageDispatcher =
new MessageDispatcher<std_msgs.Int32>(lazyMessages, executorService);
messageDispatcher.addListener(
new MessageListener<std_msgs.Int32>() {
private AtomicInteger count = new AtomicInteger();
public void onNewMessage(Int32 message) {
if (this.count.compareAndSet(message.getData(), message.getData() + 1)) {
latch.countDown();
} else {
fail(
String.format(
"Expected message data not equal to actual data: %d != %d",
count.get(), message.getData()));
}
try {
// Sleeping allows the queue to fill up a bit by slowing down the
// consumer.
Thread.sleep(5);
} catch (InterruptedException e) {
}
}
},
QUEUE_CAPACITY);
executorService.execute(messageDispatcher);
for (int i = 0; i < numberOfMessages; i++) {
final int count = i;
std_msgs.Int32 message = messageFactory.newFromType(std_msgs.Int32._TYPE);
message.setData(count);
lazyMessages.addLast(new LazyMessage<std_msgs.Int32>(message));
}
assertTrue(latch.await(1, TimeUnit.SECONDS));
}
public LookatResult newResultMessage() {
NodeConfiguration nc = NodeConfiguration.newPrivate();
MessageFactory mf = nc.getTopicMessageFactory();
return mf.newFromType(LookatResult._TYPE);
}
public LookatFeedback newFeedbackMessage() {
NodeConfiguration nc = NodeConfiguration.newPrivate();
MessageFactory mf = nc.getTopicMessageFactory();
return mf.newFromType(LookatFeedback._TYPE);
}
@Override
public T newMessage() {
return messageFactory.newFromType(serviceDeclaration.getType());
}